Sonar detection device and method for docking between underwater robot and underwater working platform

A technology for underwater robots and working platforms, which is applied in the direction of measuring devices, instruments, and the use of re-radiation, etc., can solve the problems of short wavelength of electromagnetic waves, inability to complete docking work, and inability to realize long-distance transmission, etc., and achieve the effect of improving docking accuracy

Active Publication Date: 2014-07-16
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] In order to solve the problem that the docking work cannot be completed due to the short wavelength of electromagnetic waves when the underwater robot is docked with the underwater working platform, the long-distance transmission in seawater cannot be realized, the present invention proposes a The sonar detection device for the docking of the underwater working platform, the purpose of the present invention is also to provide a sonar detection method for the docking of the underwater robot and the underwater working platform

Method used

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  • Sonar detection device and method for docking between underwater robot and underwater working platform
  • Sonar detection device and method for docking between underwater robot and underwater working platform
  • Sonar detection device and method for docking between underwater robot and underwater working platform

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Embodiment 1

[0038] Example 1: Combining figure 1 Illustrate this embodiment, the sonar detection device used for the docking of the underwater robot and the underwater work platform described in this embodiment includes a guidance system 3, a receiving system 2 and a control system 1, and the guidance system 3 is installed in the underwater working platform. Around the docking group port of the platform, the receiving system 2 is installed at the bottom of the tail of the underwater robot to receive the guidance signal sent by the guidance system 3. The control system 1 is installed in the dry cabin of the underwater robot, and the receiving system 2 passes the cable Connect with control system 1.

Embodiment 2

[0039] Embodiment 2: Combination image 3 Describe this embodiment, the difference between this embodiment and the sonar detection device for docking the underwater robot and the underwater working platform described in Embodiment 1 is that the guidance system 3 includes 3 guidance signal emission systems, and the guidance signal The transmitting system includes a transmitting transducer 7, a guiding signal generating system 8, a battery pack 9 and a housing, the guiding signal generating system 8 and the battery pack 9 are sealed inside the housing, and the battery pack 9 is used to provide the power of the guiding signal generating system 8. Working power supply, the transmitting transducer 7 is fixed on the upper surface of the shell, and the transmitting transducer 7 is used to launch a guiding sound signal into the water, and the guiding signal generation system 8 includes a power amplifier circuit 10, a guiding electrical signal generating circuit 11 and a clock circuit 1...

Embodiment 3

[0040] Embodiment 3: The difference between this embodiment and the sonar detection device for the docking of the underwater robot and the underwater working platform described in Embodiment 2 is that the three guiding signal emission systems are fixed according to the formation of an isosceles right triangle Around the docking port of the underwater working platform.

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Abstract

The invention relates to the field of sonar detection, in particular to a sonar detection device and method for docking between an underwater robot and an underwater working platform. The sonar detection device comprises a guiding system, a receiving system and controlling systems. The guiding system is installed on the periphery of a docking group port of the underwater working platform. The receiving system is installed at the bottom end of the tail of the underwater robot and used for receiving a guiding signal sent by the guiding system. The controlling systems are all installed in a dry chamber of the underwater robot. The receiving system is connected with the controlling systems through cables. Each controlling system comprises a filter and amplifier circuit, a sampling circuit and a control module. The sonar detection device performs real-time detection on relative coordinates between the underwater robot and the underwater working platform and on the angle of the docking group port plane between the bottom surface of the underwater robot and the underwater working platform so as to control the sailing direction and tilted angle of the underwater robot. In this way, docking accuracy is improved by more than 50 percent.

Description

technical field [0001] The invention relates to the field of sonar detection, in particular to a sonar detection device and a detection method for docking an underwater robot with an underwater working platform. Background technique [0002] With the rapid development of ocean development technology, human beings have moved from shallow water activities to deep sea and even seabed. At present, a large number of engineering implementation or scientific research require the establishment of underwater working platforms. At this time, underwater robots have become an important means of transportation underwater. Underwater navigation of underwater robots and the docking with underwater platforms have become important technologies. Base. In addition, for the rescue of wrecked underwater robots, guidance and docking technology is also required. Due to the short wavelength of electromagnetic waves, long-distance transmission in seawater cannot be achieved, because radio radar po...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10G01S15/88
Inventor 孙大军郑翠娥张居成李昭张殿伦勇俊李想韩云峰王永恒
Owner HARBIN ENG UNIV
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